okvis::RosParametersReader Class Reference

This class extends the VioParametersReader class in order to use ROS services and topics. More...

#include <RosParametersReader.hpp>

Inheritance diagram for okvis::RosParametersReader:

Public Member Functions
	RosParametersReader ()
	The default constructor. More...
	RosParametersReader (const std::string &filename)
	The constructor. This calls readConfigFile(). More...
Public Member Functions inherited from okvis::VioParametersReader
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	VioParametersReader ()
	The default constructor. More...
	VioParametersReader (const std::string &filename)
	The constructor. This calls readConfigFile(). More...
virtual	~VioParametersReader ()
	Trivial destructor. More...
void	readConfigFile (const std::string &filename)
	Read and parse a config file. To get the result call getParameters(). More...
bool	getParameters (okvis::VioParameters &parameters) const
	Get parameters. More...

Private Member Functions
virtual bool	getCameraCalibration (std::vector< CameraCalibration, Eigen::aligned_allocator< CameraCalibration >> &calibrations, cv::FileStorage &configurationFile)
	Get the camera calibration. More...
bool	getCalibrationViaRosService (std::vector< CameraCalibration, Eigen::aligned_allocator< CameraCalibration >> &calibrations) const
	Get the camera calibration via the ROS service advertised by the visensor node. More...
bool	getCalibrationViaRosTopic (std::vector< CameraCalibration, Eigen::aligned_allocator< CameraCalibration >> &calibrations) const
	Get the camera calibration via the ROS topic /calibrationX. More...

Additional Inherited Members
Public Attributes inherited from okvis::VioParametersReader
bool	useDriver
	Directly interface with driver without ROS message passing. More...
std::shared_ptr< void >	viSensor
Protected Member Functions inherited from okvis::VioParametersReader
bool	parseBoolean (cv::FileNode node, bool &val) const
	Parses booleans from a cv::FileNode. OpenCV sadly has no implementation like this. More...
bool	getCalibrationViaConfig (std::vector< CameraCalibration, Eigen::aligned_allocator< CameraCalibration >> &calibrations, cv::FileNode cameraNode) const
	Get the camera calibration via the configuration file. More...
bool	getCalibrationViaVisensorAPI (std::vector< CameraCalibration, Eigen::aligned_allocator< CameraCalibration >> &calibrations) const
	Get the camera calibrations via the visensor API. More...
Protected Attributes inherited from okvis::VioParametersReader
bool	readConfigFile_
	If readConfigFile() has been called at least once this is true. More...
okvis::VioParameters	vioParameters_
	The parameters. More...

Detailed Description

This class extends the VioParametersReader class in order to use ROS services and topics.

Constructor & Destructor Documentation

okvis::RosParametersReader::RosParametersReader

(

)

The default constructor.

okvis::RosParametersReader::RosParametersReader

(

const std::string &

filename

)

The constructor. This calls readConfigFile().

Parameters

filename

Configuration filename.

Member Function Documentation

bool okvis::RosParametersReader::getCalibrationViaRosService ( std::vector< CameraCalibration, Eigen::aligned_allocator< CameraCalibration >> &  calibrations ) const

private

Get the camera calibration via the ROS service advertised by the visensor node.

Parameters

[out]

calibrations

The calibrations.

Returns

True if successful.

bool okvis::RosParametersReader::getCalibrationViaRosTopic ( std::vector< CameraCalibration, Eigen::aligned_allocator< CameraCalibration >> &  calibrations ) const

private

Get the camera calibration via the ROS topic /calibrationX.

Remarks

Only supports visensor_msgs.

Parameters

[out]

calibrations

The calibrations.

Returns

True if successful.

bool okvis::RosParametersReader::getCameraCalibration ( std::vector< CameraCalibration, Eigen::aligned_allocator< CameraCalibration >> &  calibrations, cv::FileStorage &  configurationFile  )

privatevirtual

Get the camera calibration.

This looks for the calibration in the configuration file first. If useDriver==false it will next try to get the calibration via the ROS service advertised by the ViSensor node. If still unsuccessful it will try to find the calibration in the ROS-topic /calibrationX. If useDriver==true it will try to directly get the calibration from the sensor.

Parameters

calibrations	The calibrations.
configurationFile	The config file.

Returns

True if reading of the calibration was successful.

Reimplemented from okvis::VioParametersReader.

---

The documentation for this class was generated from the following files:

• include/okvis/RosParametersReader.hpp
• src/RosParametersReader.cpp